Sensor Fusion Based Humanoid Robotic arm Control*

This paper aims to study the teleoperation method based on multi-sensor fusion to achieve precise control of the robotic arm. The paper proposes a remote operation method based on multi-sensor fusion, which combines Kinect sensor, goniometer and data glove to realize the precise measurement and control of the upper limb joint angle. The adaptive Kalman filter algorithm is introduced to automatically adjust the fusion weight according to the degree of occlusion of the shoulder, elbow and wrist positions, thereby improving the accuracy and stability of joint angle measurement. The proposed method’s effectiveness and feasibility were demonstrated through experiments, which proves the high control accuracy and stability in the remote operation of humanoid robotic arm.

I. Introduction

With the rapid development of robot technology in recent years, teleoperated manipulators have gained widespread adoption in industrial manufacturing, medical assistance and hazardous environments [1], [2], [3]. The advantage of a teleoperated robotic arm is that it can replace humans in highrisk [4], high-precision [5], and labor-intensive tasks [6], thereby improving work efficiency and reducing the risk of personal injury. However, to achieve precise control of the robotic arm, it is crucial to accurately obtain and control the angle information of the upper limb joints [7].